Four-rotor unmanned aerial vehicle ground advancing device with terrain self-adaption function

Abstract

The invention discloses a four-rotor unmanned aerial vehicle ground advancing device with a terrain self-adaption function, and relates to the technical field of unmanned aerial vehicles. The four-rotor unmanned aerial vehicle ground advancing device with the terrain self-adaption function comprises a vehicle body arranged on a four-rotor unmanned aerial vehicle body and four vehicle arms, the top of each vehicle arm is provided with a rotor body, and the bottom of each vehicle arm is fixedly connected with a mounting frame; and the side wall of each mounting frame is rotationally connected with two symmetrically-arranged crawler wheels through a first rotating shaft, and the side wall of each crawler wheel is sleeved with two symmetrically-arranged crawlers. According to the four-rotor unmanned aerial vehicle ground advancing device with the terrain self-adaption function, the tensioning force of the crawler belt is convenient to adjust and control, meanwhile, the surface of the crawler belt can be cleaned in a reciprocating mode in the advancing process, the crawler belt can be washed and blown, the cleaning efficiency is higher, the cleaning effect is better, and the service life of the four-rotor unmanned aerial vehicle is prolonged. And therefore, the advancing effect of the quad-rotor unmanned aerial vehicle body on the ground is better.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a ground traveling device of a four-rotor unmanned aerial vehicle with adaptive terrain. Background Art

[0002] With the rapid development of drone technology, quad-rotor drones (such as multi-rotor aircraft) have been widely used in military reconnaissance, geographic surveying and mapping, disaster relief, and film and television shooting due to their ability to take off and land vertically, hover, and fly at low altitudes. However, traditional quad-rotor drones are mainly designed for aerial flight and have limited ground maneuverability, which to a certain extent limits their scope of application and flexibility. Especially in complex and changeable terrain environments, such as mountains, woodlands, and ruins, the ground adaptability and mobility of traditional rotor drones have become important factors that restrict their effectiveness. In order to solve this problem, researchers and companies have begun to explore how to improve the ground maneuverability of drones. In existing technologies, some solutions involve improving the design of drones, such as adding a tracked mobile mechanism to achieve ground driving capabilities.

[0003] However, when using the existing quad-rotor UAV ground travel device with adaptive terrain, it is not convenient to adjust and control the tension of the track, which affects the ground travel effect of the quad-rotor UAV. In addition, impurities such as mud are easily adhered to the track, which is not only inconvenient to clean, but also affects the ground travel effect of the quad-rotor UAV. Summary of the invention

[0004] The purpose of the present invention is to provide a quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a ground traveling device of a quad-rotor unmanned aerial vehicle with adaptive terrain, comprising a body and four arms arranged on a body of the quad-rotor unmanned aerial vehicle, wherein a rotor body is arranged on the top of each arm, a mounting frame is fixedly connected to the bottom of each arm, and a side wall of each mounting frame is rotatably connected to two symmetrically arranged track wheels through a first rotating shaft, the side walls of the track wheels are sleeved with two symmetrically arranged track wheels, and a tensioning mechanism for tensioning the track wheels is arranged on the side walls of the body, a motor is fixedly connected to the bottom of the mounting frame, and an output end of the motor is fixed to one end of the first rotating shaft; The tensioning mechanism includes a fixed plate fixedly connected to the side wall of the machine body, and the top of the fixed plate is connected to a moving block through a lifting mechanism, the top of the moving block is connected to a U-shaped plate through a pre-tensioning mechanism, and the side wall of the U-shaped plate is rotatably connected to a tensioning wheel through a second rotating shaft, and a cleaning mechanism for cleaning the track is provided on the top of the U-shaped plate.

[0006] Preferably, the cleaning mechanism comprises a moving plate, and the moving plate is connected to the side wall of the U-shaped plate through a reset mechanism, the top of the moving block is fixedly connected to a mounting plate, and the bottom of the mounting plate is detachably connected to a connecting plate through a mounting mechanism, the bottom of the connecting plate is fixedly connected to a plurality of bristles arranged in an array, and the movement of the moving block is driven by a driving mechanism; The cleaning mechanism includes a fixed box fixedly connected to the side walls of each U-shaped plate, and a sliding plate is slidably connected in the fixed box, the sliding plate divides the fixed box into an upper box body and a lower box body, and the top of the sliding plate is fixedly connected to two symmetrically arranged guide rods, the upper ends of the guide rods are fixedly connected to the U-shaped blocks, and the side walls of each guide rod are sleeved with return springs, the two ends of the return springs are respectively fixed to the bottom of the U-shaped blocks and the top of the fixed box, and one end of the second rotating shaft is fixedly connected to a cam, the top of the body is fixedly connected to a water tank, and the side walls of the upper box body are fixedly connected to a water extraction pipe, the water extraction pipe is provided with a first one-way valve, and the water extraction pipe The other end of the tube is fixedly inserted in the water tank, and the side wall of the upper box body is fixedly connected with a U-shaped water supply pipe, and a second one-way valve is arranged in the water supply pipe, the upper end of the water supply pipe is fixedly connected with the U-shaped tube, and the two ends of the U-shaped tube are fixedly connected with two symmetrically arranged first fixed tubes, and the bottom of each of the first fixed tubes is fixedly connected with a plurality of water spray pipes arranged in an array, and the side wall of the lower box body is fixedly connected with an exhaust pipe, and a third one-way valve is arranged in the exhaust pipe, and the side wall of the lower box body is fixedly connected with an air supply pipe, the upper end of the air supply pipe is fixedly connected with the second fixed pipe, and the bottom of the second fixed pipe is fixedly connected with a plurality of air blowing pipes arranged in an array.

[0007] Preferably, the lifting mechanism includes a first sleeve fixedly connected to the bottom of the moving block, and a first rod is inserted in the first sleeve, the lower end of the first rod is fixed to the top of the fixed plate, and a threaded tube is fixedly connected to the bottom of the moving block, a threaded rod is threadedly connected in the threaded tube, the lower end of the threaded rod is rotatably connected to the top of the fixed plate, and the lower end of the threaded rod is fixedly connected to a rocker.

[0008] Preferably, the preload mechanism comprises two symmetrically arranged second sleeves fixedly connected to the top of the moving block, and a second rod is inserted into each second sleeve, the upper end of the second rod is fixed to the bottom of the U-shaped plate, and the side wall of each second sleeve is sleeved with a first spring, the side wall of the moving block is provided with an identification mechanism, and the side wall of the U-shaped plate is provided with an indication mechanism.

[0009] Preferably, the marking mechanism comprises a marking plate fixedly connected to the side wall of the moving block, and the side wall of the marking plate is provided with scale markings.

[0010] Preferably, the indicating mechanism comprises a connecting block fixedly connected to the side wall of the U-shaped plate, and a pointer is fixedly connected to the side wall of the connecting block.

[0011] Preferably, the reset mechanism comprises two symmetrically arranged T-shaped guide rods fixedly connected to the side walls of the U-shaped plate, and the movable plate is sleeved on the side walls of the T-shaped guide rods, and the side walls of each of the T-shaped guide rods are sleeved with a second spring.

[0012] Preferably, the pushing mechanism includes a rotating disk fixedly connected to one end of the second rotating shaft, and the end of the rotating disk is fixedly connected to a plurality of protrusions arranged in an array, the side wall of the movable plate is fixedly connected to a conical block, and the conical block slides on the side wall of the protrusion.

[0013] Preferably, the mounting mechanism comprises two symmetrically arranged dovetail blocks fixedly connected to the bottom of the mounting plate, the top of the connecting plate is provided with two symmetrically arranged dovetail grooves, and the dovetail blocks are inserted into the dovetail grooves.

[0014] Preferably, the dovetail block is made of rubber, and the dovetail block and the dovetail groove are in interference fit.

[0015] Compared with the prior art, the present invention has the following beneficial effects: (1) The ground travel device of the quad-rotor unmanned aerial vehicle with adaptive terrain is provided with a tensioning mechanism, etc. When in use, the track wheel and the track are provided, so that the quad-rotor unmanned aerial vehicle body can adaptively travel on the ground, which is more convenient and quick to use. Moreover, when it is necessary to adjust the tension of the track, the rocker is turned, and the rotation of the rocker drives the rotation of the threaded rod, thereby driving the moving block to move upward. When the moving block moves upward, the U-shaped plate and the tensioning wheel are driven upward by the preload mechanism. When the tensioning wheel abuts against the track, when the moving block continues to move upward, the second sleeve moves upward along the side wall of the second sleeve rod. At the same time, the first spring is compressed, and the distance between the moving block and the U-shaped plate gradually decreases. At this time, by observing the scale mark indicated by the pointer, the compression amount of the first spring can be determined, and then the extrusion force between the tensioning wheel and the track can be determined, so that it is easy to adjust and control the tension of the track, so that the travel effect is better.

[0016] (2) This type of ground travel device for a quad-rotor drone with adaptive terrain is provided with a cleaning mechanism, etc. When the quad-rotor drone body is traveling on the ground, when the crawler is transmitting, it drives the tension wheel to rotate. When the tension wheel rotates, the rotating disk is driven to rotate synchronously through the second rotating shaft. When the protrusion abuts against the side wall of the conical block, the movable plate and the mounting plate can be pushed to move. At the same time, the second spring is compressed. When the protrusion passes over the conical block, the movable plate and the mounting plate can move and reset under the action of the second spring. In this way, the mounting plate can be reciprocated. Moreover, the connecting plate and the bristles are driven to reciprocate through the installing mechanism, so that the surface of the crawler can be reciprocated and cleaned, so that the traveling effect of the quad-rotor drone body on the ground is better. In addition, through the setting of the installing mechanism, it is convenient to remove the connecting plate and clean or replace the bristles.

[0017] (3) This kind of ground travel device of the quadcopter drone with adaptive terrain is provided with a cleaning mechanism, etc., so that when cleaning, when the second rotating shaft rotates, the cam is driven to rotate synchronously, and when the tip of the cam abuts against the bottom of the U-shaped block, the U-shaped block can be pushed downward, and at the same time, the sliding plate is driven downward by the guide rod, and the reset spring is compressed. When the tip of the cam passes over the bottom of the U-shaped block, the sliding plate can be moved upward and reset under the action of the reset spring. When the tip of the cam abuts against the top of the U-shaped block, the sliding plate can be moved downward and reset under the action of the reset spring. This reciprocating process can make the sliding plate move downward and upward reciprocatingly. When the sliding plate moves downward, negative pressure is generated in the upper box body, and at the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, water in the water tank can be discharged through the water tank. The water suction pipe enters the upper box body, and when the sliding plate moves upward, the water in the upper box body can be squeezed, and at the same time, the first one-way valve is closed and the second one-way valve is opened. At this time, the water in the upper box body is squeezed and enters the first fixed pipe through the water supply pipe and is sprayed out through the water spray pipe, so that the track can be wetted before cleaning, and the track can be flushed after cleaning, so that the cleaning effect is better, and when the sliding plate moves upward, negative pressure is generated in the lower box body, and at the same time, the third one-way valve is opened and the fourth one-way valve is closed. At this time, external air enters the lower box body through the air suction pipe, and when the sliding plate moves downward, the air in the lower box body can be squeezed, and at the same time, the third one-way valve is closed and the fourth one-way valve is opened. At this time, the air in the lower box body is squeezed and enters the second fixed pipe through the air supply pipe and is blown out through the air blowing pipe, so that the flushed track can be blown and cleaned, which not only makes the cleaning effect better, but also can blow away the residual water stains to avoid adhesion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the position of the tensioning mechanism in the present invention; Figure 3 It is a structural schematic diagram of the tensioning mechanism in the present invention; Figure 4 for Figure 2 A schematic diagram of the enlarged structure at A in the middle; Figure 5 for Figure 3 A schematic diagram of the enlarged structure at B in the middle; Figure 6 for Figure 4 Schematic diagram of the enlarged structure at C in the middle; Figure 7 for Figure 5 Schematic diagram of the enlarged structure at D in the middle; Figure 8 for Figure 6 Schematic diagram of the enlarged structure at E in the middle; Fig. 9 for Figure 1 The enlarged structural diagram at F in the middle; Fig.10 for Fig. 9 Schematic diagram of the enlarged structure at G in the middle.

[0019] In the figure: 1. quadcopter drone body; 101. fuselage; 102. machine arm; 103. rotor body; 2. tensioning mechanism; 201. fixing plate; 202. moving block; 203. U-shaped plate; 204. second rotating shaft; 205. tensioning wheel; 3. cleaning mechanism; 301. moving plate; 302. mounting plate; 303. connecting plate; 304. bristles; 4. lifting mechanism; 401. first sleeve; 402. first set of rods; 403. threaded pipe; 404. threaded rod; 405. rocker; 5. preload mechanism; 501. second set of rods; 502. second sleeve; 503. first spring; 6. identification mechanism; 601. identification plate; 602. scale identification; 7. indicating mechanism; 701. connecting block; 702. pointer; 8. reset mechanism; 801. T-shaped guide rod ; 802, second spring; 9, pushing mechanism; 901, rotating disk; 902, convex block; 903, conical block; 10, mounting mechanism; 1001, dovetail block; 1002, dovetail groove; 11, mounting frame; 12, first rotating shaft; 13, track wheel; 14, track; 15, cleaning mechanism; 1501, first fixed pipe; 1502, water spray pipe; 1503, fixed box; 15 04, sliding plate; 1505, cam; 1506, guide rod; 1507, return spring; 1508, water extraction pipe; 1509, water supply pipe; 1510, U-shaped pipe; 1511, upper box body; 1512, lower box body; 1513, air extraction pipe; 1514, air supply pipe; 1515, second fixed pipe; 1516, air blowing pipe; 1517, water tank; 1518, U-shaped block. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1-Figure 10 The present invention provides a technical solution: a ground traveling device of a quad-rotor unmanned aerial vehicle with adaptive terrain, comprising a body 101 and four arms 102 arranged on a quad-rotor unmanned aerial vehicle body 1, and a rotor body 103 is arranged on the top of each arm 102, and a mounting frame 11 is fixedly connected to the bottom of each arm 102, and the side wall of each mounting frame 11 is rotatably connected to two symmetrically arranged crawler wheels 13 through a first rotating shaft 12, and the side wall of the crawler wheel 13 is sleeved with two symmetrically arranged crawlers 14, and a tensioning mechanism 2 for tensioning the crawler 14 is arranged on the side wall of the body 101, and a motor is fixedly connected to the bottom of the mounting frame 11, and the output end of the motor is fixed to one end of the first rotating shaft 12; The tensioning mechanism 2 includes a fixed plate 201 fixedly connected to the side wall of the body 101, and the top of the fixed plate 201 is connected to a moving block 202 through a lifting mechanism 4, the top of the moving block 202 is connected to a U-shaped plate 203 through a pre-tightening mechanism 5, and the side wall of the U-shaped plate 203 is rotatably connected to a tensioning wheel 205 through a second rotating shaft 204, and a cleaning mechanism 3 for cleaning the track 14 is provided on the top of the U-shaped plate 203, which is convenient for adjusting and controlling the tensioning force of the track 14. At the same time, the surface of the track 14 can be reciprocatedly cleaned during the movement, so that the four-rotor UAV body 1 has a better moving effect on the ground.

[0022] The cleaning mechanism 3 includes a moving plate 301, and the moving plate 301 is connected to the side wall of the U-shaped plate 203 through a reset mechanism 8, the top of the moving block 202 is fixedly connected to the mounting plate 302, and the bottom of the mounting plate 302 is detachably connected to the connecting plate 303 through the mounting mechanism 10, and the bottom of the connecting plate 303 is fixedly connected to a plurality of bristles 304 arranged in an array, and the movement of the moving block 202 is pushed by the pushing mechanism 9. When the quad-rotor drone body 1 is moving on the ground, when the crawler 14 is transmitting When the tension wheel 205 is in motion, it drives the tension wheel 205 to rotate. When the tension wheel 205 rotates, the mounting plate 302 is reciprocated by the pushing mechanism 9 and the reset mechanism 8, and the connecting plate 303 and the bristles 304 are driven to reciprocate by the mounting mechanism 10, so that the surface of the track 14 can be reciprocated and cleaned, and the track 14 can be flushed and blown, so that the cleaning efficiency is higher and the effect is better, thereby making the four-rotor UAV body 1 have a better moving effect on the ground.

[0023] The cleaning mechanism 15 includes a fixed box 1503 fixedly connected to the side wall of each U-shaped plate 203, and a sliding plate 1504 is slidably connected in the fixed box 1503, and the sliding plate 1504 divides the fixed box 1503 into an upper box body 1511 and a lower box body 1512, and the top of the sliding plate 1504 is fixedly connected to two symmetrically arranged guide rods 1506, and the upper end of the guide rod 1506 is fixedly connected to a U-shaped block 1518, and the side wall of each guide rod 1506 is sleeved with a return spring 1507, and the two ends of the return spring 1507 are respectively fixed to the bottom of the U-shaped block 1518 and the top of the fixed box 1503, and one end of the second rotating shaft 204 is fixedly connected to a cam 1505, and the top of the body 101 is fixedly connected to a water tank 1517. A water extraction pipe 1508 is fixedly connected to the side wall of the upper box body 1511, a first one-way valve is arranged in the water extraction pipe 1508, and the other end of the water extraction pipe 1508 is fixedly inserted in the water tank 1517, a U-shaped water supply pipe 1509 is fixedly connected to the side wall of the upper box body 1511, and a second one-way valve is arranged in the water supply pipe 1509, the upper end of the water supply pipe 1509 is fixedly connected to the U-shaped pipe 1510, and the two ends of the U-shaped pipe 1510 are fixedly connected to two symmetrically arranged first fixed pipes 1501, and the bottom of each first fixed pipe 1501 is fixedly connected to a plurality of array-arranged water spray pipes 1502, and an air extraction pipe 1513 is fixedly connected to the side wall of the lower box body 1512, and a third one-way valve is arranged in the air extraction pipe 1513, and the lower box body 15 The side wall of 12 is fixedly connected with an air supply pipe 1514, the upper end of the air supply pipe 1514 is fixedly connected with a second fixed pipe 1515, and the bottom of the second fixed pipe 1515 is fixedly connected with a plurality of air blowing pipes 1516 arranged in an array. When cleaning, when the second rotating shaft 204 rotates, the cam 1505 is driven to rotate synchronously. When the tip of the cam 1505 abuts against the bottom of the U-shaped block 1518, the U-shaped block 1518 can be pushed to move downward. At the same time, the sliding plate 1504 is driven to move downward through the guide rod 1506, and the reset spring 1507 is compressed. When the tip of the cam 1505 passes over the bottom of the U-shaped block 1518, the sliding plate 1504 can move upward and reset under the action of the reset spring 1507. When the cam 15 When the tip of cam 1505 abuts against the top of U-shaped block 1518, it can push U-shaped block 1518 to move upward. At the same time, the sliding plate 1504 is driven to move upward through the guide rod 1506, and the reset spring 1507 is stretched. When the tip of cam 1505 passes over the top of U-shaped block 1518, the sliding plate 1504 can move downward and reset under the action of the reset spring 1507, and so on and so forth, so that the sliding plate 1504 can move reciprocatingly downward and upward. When the sliding plate 1504 moves downward, negative pressure is generated in the upper box body 1511. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the water in the water tank 1517 can enter the upper box body 1511 through the water pumping pipe 1508. When the sliding plate 1504 moves upward,The water in the upper box 1511 can be squeezed, and at the same time, the first one-way valve is closed and the second one-way valve is opened. At this time, the water in the upper box 1511 is squeezed and enters the first fixed pipe 1501 through the water supply pipe 1509 and is sprayed out through the water spray pipe 1502, so that the crawler 14 can be wetted before cleaning, and the crawler 14 can be flushed after cleaning, so that the cleaning effect is better. In addition, when the sliding plate 1504 moves upward, negative pressure is generated in the lower box 1512. At the same time, the third one-way valve is opened and the fourth one-way valve is closed. Closed, at this time, the external air enters the lower box 1512 through the exhaust pipe 1513, and when the sliding plate 1504 moves downward, the air in the lower box 1512 can be squeezed. At the same time, the third one-way valve is closed and the fourth one-way valve is opened. At this time, the air in the lower box 1512 is squeezed and enters the second fixed pipe 1515 through the air supply pipe 1514, and is blown out of the air blowing pipe 1516, so that the washed crawler 14 can be blown and cleaned, which not only makes the cleaning effect better, but also can blow away the residual water stains to avoid adhesion.

[0024] The lifting mechanism 4 includes a first sleeve 401 fixedly connected to the bottom of the moving block 202, and a first rod 402 is inserted in the first sleeve 401, the lower end of the first rod 402 is fixed to the top of the fixed plate 201, and a threaded tube 403 is fixedly connected to the bottom of the moving block 202, a threaded rod 404 is threadedly connected to the threaded tube 403, the lower end of the threaded rod 404 is rotatably connected to the top of the fixed plate 201, and a rocker 405 is fixedly connected to the lower end of the threaded rod 404, and the rocker 405 is rotated, and the rotation of the rocker 405 drives the rotation of the threaded rod 404, thereby driving the moving block 202 to move upward.

[0025] The preload mechanism 5 includes two symmetrically arranged second sleeves 502 fixedly connected to the top of the moving block 202, and each second sleeve 502 is inserted with a second rod 501, the upper end of the second rod 501 is fixed to the bottom of the U-shaped plate 203, and the side wall of each second sleeve 502 is sleeved with a first spring 503, the side wall of the moving block 202 is provided with an identification mechanism 6, and the side wall of the U-shaped plate 203 is provided with an indication mechanism 7. When the moving block 202 moves upward, the U-shaped plate 203 and the tensioning wheel 205 are driven to move upward through the preload mechanism 5. When the tensioning wheel 205 is against the track 14, when the moving block 202 continues to move upward, the second sleeve 502 moves upward along the side wall of the second rod 501. At the same time, the first spring 503 is compressed, thereby providing tension to the track 14.

[0026] The marking mechanism 6 includes a marking plate 601 fixedly connected to the side wall of the moving block 202 , and a scale mark 602 is provided on the side wall of the marking plate 601 to facilitate observation of the compression amount of the first spring 503 .

[0027] The indicating mechanism 7 includes a connecting block 701 fixedly connected to the side wall of the U-shaped plate 203, and a pointer 702 is fixedly connected to the side wall of the connecting block 701. By observing the scale mark 602 indicated by the pointer 702, the compression amount of the first spring 503 can be determined.

[0028] The reset mechanism 8 includes two symmetrically arranged T-shaped guide rods 801 fixedly connected to the side walls of the U-shaped plate 203, and the movable plate 301 is sleeved on the side walls of the T-shaped guide rods 801. The side walls of each T-shaped guide rod 801 are sleeved with a second spring 802 to guide and reset the movement of the movable plate 301.

[0029] The pushing mechanism 9 includes a rotating disk 901 fixedly connected to one end of the second rotating shaft 204, and a plurality of array-arranged protrusions 902 are fixedly connected to the end of the rotating disk 901, and a conical block 903 is fixedly connected to the side wall of the movable plate 301, and the conical block 903 slides on the side wall of the protrusion 902. When the tensioning wheel 205 rotates, the rotating disk 901 is driven to rotate synchronously through the second rotating shaft 204. When the protrusion 902 abuts against the side wall of the conical block 903, it can push the movable plate 301 and the mounting plate 302 to move.

[0030] The mounting mechanism 10 includes two symmetrically arranged dovetail blocks 1001 fixedly connected to the bottom of the mounting plate 302, and two symmetrically arranged dovetail grooves 1002 are provided on the top of the connecting plate 303, and the dovetail blocks 1001 are inserted into the dovetail grooves 1002, so as to facilitate the installation and disassembly of the connecting plate 303, thereby facilitating the cleaning or replacement of the bristles 304 after the connecting plate 303 is removed.

[0031] The dovetail block 1001 is made of rubber, and the dovetail block 1001 and the dovetail groove 1002 are interference fit to ensure the installation effect.

[0032] Working principle: When in use, the track wheel 13 and the track 14 are arranged so that the quad-rotor drone body 1 can move on the ground in an adaptive manner, which is more convenient and quick to use. Moreover, when the tension of the track 14 needs to be adjusted, the rocker 405 is rotated, and the rotation of the rocker 405 drives the rotation of the threaded rod 404, thereby driving the moving block 202 to move upward. When the moving block 202 moves upward, the U-shaped plate 203 and the tensioning wheel 205 are driven to move upward through the preload mechanism 5. When the tensioning wheel 205 and the track 14 are adjusted, the tensioning wheel 205 and the track 14 are adjusted. When the belt 14 abuts, when the moving block 202 continues to move upward, the second sleeve 502 moves upward along the side wall of the second sleeve rod 501, and at the same time, the first spring 503 is compressed, and the distance between the moving block 202 and the U-shaped plate 203 gradually decreases. At this time, by observing the scale mark 602 indicated by the pointer 702, the compression amount of the first spring 503 can be determined, and then the extrusion force between the tensioning wheel 205 and the crawler 14 can be determined, so as to facilitate the adjustment and control of the tensioning force of the crawler 14, so as to achieve a better travel effect; When the quad-rotor drone body 1 is traveling on the ground, when the crawler 14 is transmitting, the tension wheel 205 is driven to rotate. When the tension wheel 205 is rotating, the rotating disk 901 is driven to rotate synchronously through the second rotating shaft 204. When the protrusion 902 abuts against the side wall of the conical block 903, the movable plate 301 and the mounting plate 302 can be pushed to move. At the same time, the second spring 802 is compressed. When the protrusion 902 passes over the conical block 903, the movable plate 301 and the mounting plate 302 can move and reset under the action of the second spring 802. In this way, the mounting plate 302 can be reciprocated, and the connecting plate 303 and the bristles 304 are driven to reciprocate through the mounting mechanism 10, so that the surface of the crawler 14 can be reciprocated and cleaned, so that the quad-rotor drone body 1 has a better traveling effect on the ground. In addition, through the setting of the mounting mechanism 10, it is convenient to remove the connecting plate 303 and clean or replace the bristles 304. Moreover, when cleaning, when the second rotating shaft 204 rotates, the cam 1505 is driven to rotate synchronously. When the tip of the cam 1505 abuts against the bottom of the U-shaped block 1518, the U-shaped block 1518 can be pushed to move downward. At the same time, the sliding plate 1504 is driven to move downward through the guide rod 1506, and the reset spring 1507 is compressed. When the tip of the cam 1505 passes over the bottom of the U-shaped block 1518, the sliding plate 1504 can be reset by the reset spring 1507. When the tip of the cam 1505 abuts against the top of the U-shaped block 1518, the sliding plate 1504 can be reset by the reset spring 1507. The U-shaped block 1518 moves upward, and at the same time, the sliding plate 1504 is driven to move upward through the guide rod 1506, and the reset spring 1507 is stretched. When the tip of the cam 1505 passes over the top of the U-shaped block 1518, the sliding plate 1504 can move downward and reset under the action of the reset spring 1507, and so on and so forth, so that the sliding plate 1504 can move reciprocatingly downward and upward. When the sliding plate 1504 moves downward, negative pressure is generated in the upper box body 1511. At the same time, the first one-way valve is opened and the second one-way valve is closed. At this time, the water in the water tank 1517 can be discharged through the water pump 1 508 enters the upper box body 1511. When the sliding plate 1504 moves upward, the water in the upper box body 1511 can be squeezed. At the same time, the first one-way valve is closed and the second one-way valve is opened. At this time, the water in the upper box body 1511 is squeezed and enters the first fixed pipe 1501 through the water supply pipe 1509 and is sprayed out through the water spray pipe 1502, so that the crawler 14 can be wetted before cleaning. After cleaning, the crawler 14 is rinsed, so that the cleaning effect is better. In addition, when the sliding plate 1504 moves upward, negative pressure is generated in the lower box body 1512, and at the same time , the third one-way valve is opened and the fourth one-way valve is closed. At this time, the external air enters the lower box body 1512 through the exhaust pipe 1513. When the sliding plate 1504 moves downward, the air in the lower box body 1512 can be squeezed. At the same time, the third one-way valve is closed and the fourth one-way valve is opened. At this time, the air in the lower box body 1512 is squeezed and enters the second fixed pipe 1515 through the air supply pipe 1514, and is blown out through the air pipe 1516, so that the track 14 after flushing can be blown and cleaned, which not only makes the cleaning effect better, but also can blow away the residual water stains to avoid adhesion.

Claims

1. A quad-rotor unmanned aerial vehicle ground moving device with self-adaptive terrain, comprising a body (101) arranged on a quad-rotor unmanned aerial vehicle body (1), four arms (102), and a rotor body (103) arranged on the top of each arm (102), characterized in that: The bottom of each of the machine arms (102) is fixedly connected to a mounting frame (11), and the side wall of each mounting frame (11) is rotatably connected to two symmetrically arranged crawler wheels (13) via a first rotating shaft (12), the side walls of the crawler wheels (13) are sleeved with two symmetrically arranged crawler tracks (14), and the side wall of the machine body (101) is provided with a tensioning mechanism (2) for tensioning the crawler tracks (14), the bottom of the mounting frame (11) is fixedly connected to a motor, and the output end of the motor is fixed to one end of the first rotating shaft (12); The tensioning mechanism (2) comprises a fixed plate (201) fixedly connected to the side wall of the machine body (101), the top of the fixed plate (201) being connected to a moving block (202) via a lifting mechanism (4), the top of the moving block (202) being connected to a U-shaped plate (203) via a pre-tightening mechanism (5), and the side wall of the U-shaped plate (203) being rotatably connected to a tensioning wheel (205) via a second rotating shaft (204), a cleaning mechanism (3) for cleaning the crawler tracks (14) being provided at the top of the U-shaped plate (203), and a cleaning mechanism (15) for spraying water and blowing air to clean the crawler tracks (14) being provided above each crawler track (14).

2. The quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain according to claim 1, characterized in that: The cleaning mechanism (3) comprises a movable plate (301), and the movable plate (301) is connected to the side wall of the U-shaped plate (203) via a reset mechanism (8); the top of the movable block (202) is fixedly connected to the mounting plate (302), and the bottom of the mounting plate (302) is detachably connected to the connecting plate (303) via a mounting mechanism (10); the bottom of the connecting plate (303) is fixedly connected to a plurality of bristles (304) arranged in an array, and the movement of the movable block (202) is driven by a driving mechanism (9); The cleaning mechanism (15) comprises a fixed box (1503) fixedly connected to the side wall of each U-shaped plate (203), and a sliding plate (1504) is slidably connected inside the fixed box (1503), the sliding plate (1504) divides the fixed box (1503) into an upper box body (1511) and a lower box body (1512), and the top of the sliding plate (1504) is fixedly connected to two symmetrically arranged guide rods (1506), and the upper end of the guide rod (1506) is fixedly connected to a U-shaped block (1511). 8), and the side wall of each guide rod (1506) is sleeved with a return spring (1507), the two ends of the return spring (1507) are respectively fixed to the bottom of the U-shaped block (1518) and the top of the fixed box (1503), and one end of the second rotating shaft (204) is fixedly connected to a cam (1505), the top of the body (101) is fixedly connected to a water tank (1517), and the side wall of the upper box (1511) is fixedly connected to a water pump (1508), and the water pump (1508) is fixedly connected to the side wall of the upper box (1511). A first one-way valve is provided, and the other end of the water pumping pipe (1508) is fixedly inserted in the water tank (1517); a U-shaped water supply pipe (1509) is fixedly connected to the side wall of the upper box body (1511), and a second one-way valve is provided in the water supply pipe (1509); the upper end of the water supply pipe (1509) is fixedly connected to a U-shaped pipe (1510), and the two ends of the U-shaped pipe (1510) are fixedly connected to two symmetrically arranged first fixed pipes (1501), and each of the first fixed pipes (1501) is fixedly connected to the water supply pipe (1509). 1) is fixedly connected to the bottom with a plurality of water spray pipes (1502) arranged in an array, and the side wall of the lower box body (1512) is fixedly connected to an exhaust pipe (1513), and a third one-way valve is arranged in the exhaust pipe (1513), the side wall of the lower box body (1512) is fixedly connected to an air supply pipe (1514), the upper end of the air supply pipe (1514) is fixedly connected to a second fixed pipe (1515), and the bottom of the second fixed pipe (1515) is fixedly connected to a plurality of air blowing pipes (1516) arranged in an array.

3. The quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain according to claim 1, characterized in that: The lifting mechanism (4) comprises a first sleeve (401) fixedly connected to the bottom of the moving block (202), and a first rod (402) is inserted into the first sleeve (401), the lower end of the first rod (402) is fixed to the top of the fixed plate (201), and a threaded tube (403) is fixedly connected to the bottom of the moving block (202), a threaded rod (404) is threadedly connected to the threaded tube (403), the lower end of the threaded rod (404) is rotatably connected to the top of the fixed plate (201), and the lower end of the threaded rod (404) is fixedly connected to a rocker (405).

4. The quad-rotor UAV ground moving device with adaptive terrain according to claim 1, characterized in that: The preload mechanism (5) comprises two symmetrically arranged second sleeves (502) fixedly connected to the top of the moving block (202), each second sleeve (502) being inserted with a second sleeve rod (501), the upper end of the second sleeve rod (501) being fixed to the bottom of the U-shaped plate (203), and the side wall of each second sleeve (502) being sleeved with a first spring (503), the side wall of the moving block (202) being provided with an identification mechanism (6), and the side wall of the U-shaped plate (203) being provided with an indication mechanism (7).

5. The quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain according to claim 4, characterized in that: The marking mechanism (6) comprises a marking plate (601) fixedly connected to the side wall of the moving block (202), and the side wall of the marking plate (601) is provided with a scale mark (602).

6. The quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain according to claim 4, characterized in that: The indicating mechanism (7) comprises a connecting block (701) fixedly connected to the side wall of the U-shaped plate (203), and a pointer (702) is fixedly connected to the side wall of the connecting block (701).

7. The quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain according to claim 2, characterized in that: The reset mechanism (8) comprises two symmetrically arranged T-shaped guide rods (801) fixedly connected to the side walls of the U-shaped plate (203), and the movable plate (301) is sleeved on the side walls of the T-shaped guide rods (801), and the side walls of each of the T-shaped guide rods (801) are sleeved with a second spring (802).

8. The quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain according to claim 2, characterized in that: The pushing mechanism (9) comprises a rotating disk (901) fixedly connected to one end of the second rotating shaft (204), and a plurality of protrusions (902) arranged in an array are fixedly connected to the end of the rotating disk (901), and a conical block (903) is fixedly connected to the side wall of the movable plate (301), and the conical block (903) slides on the side wall of the protrusion (902).

9. The quad-rotor unmanned aerial vehicle ground moving device with adaptive terrain according to claim 1, characterized in that: The mounting mechanism (10) comprises two symmetrically arranged dovetail blocks (1001) fixedly connected to the bottom of the mounting plate (302); the top of the connecting plate (303) is provided with two symmetrically arranged dovetail grooves (1002), and the dovetail blocks (1001) are inserted into the dovetail grooves (1002).

10. The ground traveling device of a quad-rotor unmanned aerial vehicle with adaptive terrain according to claim 9, characterized in that: The dovetail block (1001) is made of rubber material, and the dovetail block (1001) and the dovetail groove (1002) are in interference fit.

Images